CN104385273A - Robot system and synchronous performance control method thereof - Google Patents
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- G—PHYSICS
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- G06N3/004—Artificial life, i.e. computing arrangements simulating life
- G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
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Abstract
The invention discloses a robot system and a synchronous performance control method thereof. The system comprises a main robot and at least one secondary robot, wherein the main robot and the secondary robot both comprise control modules, storage modules, wireless communication modules and program performance modules; and the control modules are respectively connected with the storage modules, the wireless communication modules and the program performance modules. The robot system can realize automatic performance of multiple robots to reduce the dependence on users, and can serve as a learning tool to provide a vivid language learning environment to learners.
Description
Technical field
The present invention relates to field of intelligent control technology, particularly relate to a kind of robot system and perform control method simultaneously.
Background technology
At present, robot enters household application market, and is used widely, and such as people can carry out language learning or other recreation by robot.
But traditional family expenses learning recreation humanoid robot is all use in units of single, robot receives the control instruction of user, make read, sing, the behavior such as dance movement.Thus, the dependence of traditional robot to user is higher, expends the energy that user is more, especially under the application scenarios of the head of a family by robot instruction child, needs the participation of head of a family's long period and accompanies.
Summary of the invention
Based on this, be necessary for providing a kind of robot system and perform control method simultaneously, application native system and method, the automatic performance of multiple robot can be realized, reduce dependence to user, and can as a kind of learning tool, for learner provides language learning environment true to nature.
A kind of robot system, comprise: a main robot and at least one secondary robot, described main robot and described secondary robot all comprise control module, memory module, wireless communication module and program Executive Module, described control module connects described memory module, described wireless communication module and described program Executive Module respectively, for controlling each several part co-ordination; Described memory module, for storing the program program of performing simultaneously;
Described wireless communication module, for setting up the communication connection of described main robot and at least one secondary robot described;
Described control module, for after described main robot and at least one secondary robot described establish a communications link, according to the strategy preset, determine described robot system the program that will simultaneously perform;
Described wireless communication module, also for after the program determining to perform in described control module simultaneously, sets up the clock sync signal reference point of described main robot and at least one secondary robot described;
Described control module, also for according to described clock sync signal reference point, the program program reading described program corresponding performs, and produces the control signal of described program Executive Module;
Described program Executive Module, for according to described control signal, carries out the performance of program.
Wherein in an embodiment, described wireless communication module, also for after described main robot and at least one secondary robot described establish a communications link, under the control of described control module, carry out the transmission of the program program between described main robot and described secondary robot, carry out program for described main robot and described secondary robot and share.
Wherein in an embodiment, described program Executive Module comprises at least one in voice class program performance element and action class program performance element;
Described voice class program performance element comprises apparatus for processing audio and loudspeaker, and described apparatus for processing audio connects described control module, and described loudspeaker connects described apparatus for processing audio;
Described action class program performance element comprises motor driver, motor and mechanical movement means, and described motor driver connects described control module and described motor, and described motor connects described mechanical movement means.
Wherein in an embodiment, described program Executive Module comprises voice class program performance element and action class program performance element, also comprise indicator unit further, described indicator unit comprises eyes indicator lamp and face indicator lamp, and described eyes indicator lamp is connected described control module respectively with described face indicator lamp;
Described eyes indicator lamp, for when described voice class program performance element or described action class program performance element carry out floor show, glimmers under the control of described control module;
Described face indicator lamp, for when described voice class program performance element carries out floor show, glimmers under the control of described control module.
Wherein in an embodiment, described main robot and described secondary robot also comprise and keep away barrier detection module, described barrier detection module of keeping away comprises at least one in infrared inductor and ultrasonic sensing device, described infrared inductor and/or described ultrasonic sensing device connect described control module, for when described action class program performance element carries out floor show, detect barrier or high low degree intersection, and detection signal is sent to described control module;
Described control module, also for after receiving described detection signal, send to described motor driver and turn to or retreat instruction, described motor driver drives described motor to carry out work, drives described main robot or secondary robot to carry out turning or retreating by described mechanical movement means.
Wherein in an embodiment, described main robot and described secondary robot also comprise interface module, and described interface module connects described control module, for receiving the program program of external transmission, and be stored in described memory module, the renewal of program is carried out for robot system.
A kind of robot system performs control method simultaneously, comprising:
By communication, set up the communication connection of described main robot and at least one secondary robot described;
Described main robot according to the strategy preset, determine described robot system the program that will simultaneously perform;
Described main robot and described secondary robot, set up the clock sync signal reference point of simultaneously performing by radio communication;
Described main frame people and described secondary robot are respectively according to described clock sync signal reference point, and the program program reading described program corresponding performs, and produce the control signal that described main robot and described secondary robot carry out floor show;
The program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out floor show.
Wherein in an embodiment, described set up the step of the communication connection of described main robot and at least one secondary robot described after, described method also comprises:
Carry out the transmission of program program between described main robot and described secondary robot and share.
Wherein in an embodiment, the program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out floor show, comprising:
The program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out voice class floor show; And/or
The program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out action class floor show.
Wherein in an embodiment, the program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out floor show, specifically comprises:
The program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out voice class floor show and action class floor show; And
When described main robot and described secondary robot carry out voice class floor show or action class floor show, control corresponding eyes indicator lamp and glimmer; And
Carry out voice class floor show at described main robot and described secondary robot, control corresponding face indicator lamp and glimmer.
Wherein in an embodiment, described method also comprises:
While described main robot and described secondary robot carry out action class floor show, detect barrier or high low degree intersection by keeping away barrier detection module, described in keep away barrier detection module and comprise at least one in infrared inductor and ultrasonic sensing device;
If the barrier detection module of keeping away of described main robot or described secondary robot detects barrier or high ground level intersection, then carry out turning to or retreating.
Wherein in an embodiment, described method also comprises:
Described main robot or described secondary robot receive the program program of external transmission by interface module, carry out program updating.
Above-mentioned robot system and simultaneously perform control method, when main robot and secondary robot meet, pass through wireless communication module, set up radio communication to connect, by main robot determine the program that will simultaneously perform, the clock sync signal reference point that main robot and secondary robot perform simultaneously is set up again by wireless communication module, main robot and secondary robot perform program program corresponding to program respectively afterwards, produce the control signal of respective program Executive Module, the program Executive Module of main robot and secondary robot is respectively according to control signal, carry out respective floor show, relative to conventional art, reduce the dependence to user, save user time and energy.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot system main robot in an embodiment and secondary robot;
Fig. 2 is the structural representation of robot system main robot in another embodiment and secondary robot;
Fig. 3 is the structural representation of robot system main robot in another embodiment and secondary robot;
Fig. 4 is the structural representation of robot system main robot in another embodiment and secondary robot;
Fig. 5 is the schematic flow sheet that robot system in an embodiment performs control method simultaneously;
Fig. 6 is the sequential chart that in an embodiment, main robot and secondary robot are performed simultaneously.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
See Fig. 1, in one embodiment, a kind of robot system is provided.This robot system comprises a main robot and at least one secondary robot, and the structure of main robot and secondary robot is concrete as Fig. 1.
Main robot and secondary robot comprise: control module 101, memory module 102, wireless communication module 103 and program Executive Module 104.Control module 101 connects memory module 102, wireless communication module 103 and program Executive Module 104 respectively, for controlling each several part co-ordination, control module 101 can be microprocessor, FPGA(Field-Programmable Gate Array, field programmable gate array) etc. control chip.Memory module 102, for storing the program program and control instruction of performing simultaneously, memory module 102 can be hard disk, dismountable storage card etc.Wireless communication module 103, for the radio communication between robot major and minor in robot system, such as can be, but not limited to is WiFi(wireless fidelity, Wireless Fidelity) module, 2G wireless chip, 3G wireless chip, 2.4G wireless chip, Bluetooth(bluetooth) module etc.Main robot and secondary robot program Executive Module 104 separately, under the control of control module 101, carries out the performance of program, concrete, and under different application scene, program Executive Module 104 can have different embodiments.Such as, be used for the application scenarios of language learning in robot system under, program Executive Module 104 can be only made up of voice class program performance element, comprise apparatus for processing audio and loudspeaker etc., different sexes or role is played the part of by multiple robot, carry out the broadcasting of English or other Languages audio frequency, the several scenes of dialogue in simulation language study, can provide a kind of language learning environment true to nature.Such as amusement function can also be provided in robot system again, the sight performance such as multirobot dancing or roller-skating are such as provided, program Executive Module 104 can be only made up of action class program performance element, comprise motor driver, motor and and mechanical movement means, wherein according to the complexity of mechanical movement, motor specifically can comprise head motor, hand motor, thigh motor one or more, mechanical movement means can be roller, spherical device etc.In addition, program Executive Module 104 also can have voice class program performance element and action class program performance element simultaneously.
The robot system that the present embodiment provides, its operation principle is as described below:
Main robot and secondary robot are identified mutually by wireless communication module 103, establish a communications link.Concrete, the identity of major and minor robot can be arranged in advance, also can take after two robots meet, and who tries to be the first and sends the set-up mode that handshake is main robot.
Robot system comprises a main robot and at least one secondary robot, and optimum use scenes is that Liang Ge robot uses simultaneously, and wherein major and minor robot has prestored identical program program.But the robot of different user may be different due to program program, need to carry out sharing of program.After major and minor robot is established a communications link by wireless communication module 103, main robot can require that secondary robot carries out reporting of program code inventory, compared with the program code that main robot stores with self after receiving this inventory, and the transmission of program program between secondary robot, is not had mutually by wireless communication module 103, realize sharing.Be appreciated that the program between major and minor robot is shared, between the robot matched in advance, do not limit execution.
The control module 101 of main robot, then store according to self or program inventory after sharing, according to preset strategy determine robot system the program that will simultaneously perform.Such as, main robot can determine performance order according to program code order, also can determine performance order at random.
After main robot determines the program code that will perform at every turn, inform by wireless communication module 103 program code that secondary robot will perform.Clock is made zero between major and minor robot simultaneously, set up the clock sync signal reference point of simultaneously performing.The control module 101 of major and minor robot reads the program program of the correspondence that respective memory module 102 stores respectively, performs, and produces the control signal of the different time points of respective program Executive Module 104.
The program Executive Module 104 of major and minor robot is respectively according to the control signal of different time points, carry out different operations, the broadcasting of such as audio frequency, the running etc. of motor, thus realize robot system and give a performance, as reading English, singing, roller-skating, dancing etc. simultaneously.Major and minor robot carries out floor show simultaneously, until all floor shows are complete or major and minor robot separates in radio communication effective range.
The robot system that the present embodiment provides, when main robot and secondary robot meet, pass through wireless communication module, set up radio communication to connect, by main robot determine the program that will simultaneously perform, the clock sync signal reference point that main robot and secondary robot perform simultaneously is set up again by wireless communication module, main robot and secondary robot perform program program corresponding to program respectively afterwards, produce the control signal of respective program Executive Module, the program Executive Module of main robot and secondary robot is respectively according to control signal, carry out respective floor show, relative to conventional art, reduce the dependence to user, save user time and energy.
See Fig. 2, in another embodiment, a kind of robot system is provided.This robot system comprises a main robot and at least one secondary robot.Major and minor robot architecture included by this robot system as shown in Figure 2.
Major and minor robot comprises: control module 201, memory module 202, wireless communication module 203, program Executive Module 204 and interface module 205.Control module 201 connects memory module 202, wireless communication module 203, program Executive Module 204 and interface module 205 respectively, and for controlling each several part co-ordination, control module 201 can be the control chip such as microprocessor, FPGA.Memory module 202, for storing the program program and control instruction of performing simultaneously, memory module 202 can be hard disk, dismountable storage card etc.Wireless communication module 203 for the radio communication between robot major and minor in robot system, such as, can be WiFi(wireless fidelity, Wireless Fidelity) module, Bluetooth(bluetooth) module, 2.4G wireless chip etc.Main robot and secondary robot program Executive Module 204 separately, for under the control of control module 201, carry out the performance of program, concrete, robot in the present embodiment mainly provides learning functionality, different sexes can be simulated by robot and role engages in the dialogue, and can provide language learning environment true to nature.Program Executive Module 204 is only made up of voice class program performance element, comprises apparatus for processing audio 2041 and loudspeaker 2042.Apparatus for processing audio 2041 link control module 201 and loudspeaker 2042.The audio frequency integrated chip that apparatus for processing audio 2041 can select frequency response wide, loudspeaker 2042 can be placed in acoustic construction cavity reasonable in design, thus can send graceful sound.Storing audio files is applied to mutually, as the audio file of mp3 form in memory module 202.
The robot system that the present embodiment provides, the operation principle of control module 201, memory module 202, wireless communication module 203, program Executive Module 204 can with reference to the description of embodiment in Fig. 1.Difference is, what program Executive Module 204 can perform is operating as: the audio file that apparatus for processing audio 2041 reads from memory module 202 according to control module 201, carries out processing and power amplification, pushes away to put to loudspeaker 2042 to play.In addition major and minor robot also comprises interface module 205, interface module 205 link control module 201, may be used for receiving the program program of external transmission, audio file storing, thus realizes the upgrading of program updating or robot.
In addition, in other embodiments, the program Executive Module 204 of major and minor robot only can comprise action class program performance element, or has voice class program performance element and action class program performance element concurrently, and its principle repeats no more.
See Fig. 3, it is the structural representation of the major and minor robot of the robot system in another embodiment.This robot system comprises a main robot and at least one secondary robot.Major and minor robot comprises: control module 301, memory module 302, wireless communication module 303, program Executive Module and interface module 305.Control module 301 connects memory module 302, wireless communication module 303, program Executive Module and interface module 305 respectively, and for controlling each several part co-ordination, control module 301 can be the control chip such as microprocessor, FPGA.Memory module 302, for storing the program program and control instruction of performing simultaneously, memory module 302 can be hard disk, dismountable storage card etc.Wireless communication module 303, for the radio communication between robot major and minor in robot system, such as can be, but not limited to is WiFi(wireless fidelity, Wireless Fidelity) module, 2G wireless chip, 3G wireless chip, 2.4G wireless chip, Bluetooth(bluetooth) module etc.Program Executive Module comprises voice class program performance element 3041, action class program performance element 3042 and indicator unit 3043.Voice class program performance element 3041 comprises apparatus for processing audio 30411 and loudspeaker 30412.Apparatus for processing audio 30411 is link control module 301 and loudspeaker 30412 respectively.Action class program performance element 3042 comprises motor driver 30421, motor 30422 and mechanical movement means 30423.Motor driver 30421 link control module 301 and motor 30422, motor 30422 connects mechanical movement means 30423.Motor 30422 specifically can comprise head motor, hand motor, thigh motor one or more, mechanical movement means 30423 can be roller, spherical device etc., according to different mechanical movement forms, can have different settings.Indicator unit 3043 comprises eyes indicator lamp 30431 and face indicator lamp 30432, eyes indicator lamp 30431 and face indicator lamp 30432 link control module 301 respectively.
The robot system that the present embodiment provides, its operation principle is as described below:
Main robot and secondary robot are identified mutually by wireless communication module 303, establish a communications link.Concrete, the identity of major and minor robot can be arranged in advance, also can take after two robots meet, and who tries to be the first and sends the set-up mode that handshake is main robot.
Similar with embodiment described in Fig. 1, in the present embodiment, the wireless communication module 303 of the major and minor robot of robot system can also be used for the mutual transmission carrying out program program, realizes program and shares.
The control module 301 of main robot, then store according to self or program inventory after sharing, according to preset strategy determine robot system the program that will simultaneously perform.
After main robot determines the program code that will perform at every turn, inform by wireless communication module 303 program that secondary robot will perform.Clock is made zero between major and minor robot simultaneously, set up the clock sync signal reference point of simultaneously performing.The control module 301 of major and minor robot reads the program program of the correspondence that respective memory module 302 stores respectively, perform, produce the control signal of the different time points of respective program Executive Module, comprise the control signal of voice class program performance element 3041, the control signal of action class program performance element 3042 and the control signal of indicator unit 3043 respectively.
The program Executive Module of major and minor robot is respectively according to the control signal of different time points, carry out different operations, the broadcasting of audio frequency is such as carried out in certain moment, realize the voice class such as recitation of poems, singing floor show, when voice class program performance element 3041 carries out floor show, eyes indicator lamp 30431, face indicator lamp 30432 can glimmer according to specific frequency respectively under the control of control module 301, and different frequencies can express different implications; Again such as in certain moment, operated by motor driver 30421 drive motors 30422, thus driving mechanical telecontrol equipment 30423 moves, realize the action such as dancing, walking, simultaneously, eyes indicator lamp 30431 also while robot makes specific action, can glimmer according to a certain frequency under the control of control module 301; Again such as, major and minor robot, at synchronization, both can carry out voice class floor show by voice class program performance element 3041, also can carry out action class floor show by action class program performance element 3042.Thus, the robot system in the present embodiment, as learning tool, can not only provide language learning environment true to nature, can also carry out the performance of multiple sight.
Major and minor robot also comprises interface module 305, interface module 305 link control module 301, may be used for the program program of reception external transmission and store, thus realize the upgrading of program updating or robot, such as according to the audio-source file that the head of a family provides, then process, be stored in robot, when playing this audio file, to children's more attractive.
See Fig. 4, it is the structural representation of major and minor robot in the robot system that provides in another embodiment.This robot system comprises a main robot and at least one secondary robot.Major and minor robot comprises: control module 401, memory module 402, wireless communication module 403, program Executive Module, interface module 305 and keep away barrier detection module 406.Control module 401 connects memory module 402, wireless communication module 403, program Executive Module, interface module 405 respectively and keeps away barrier detection module 406, and for controlling each several part co-ordination, control module 401 can be the control chip such as microprocessor, FPGA.Memory module 402, for storing the program program and control instruction of performing simultaneously, memory module 402 can be hard disk, dismountable storage card etc.Wireless communication module 403, for the radio communication between robot major and minor in robot system, can 4 be such as WiFi(wireless fidelity, Wireless Fidelity) module, 2G wireless chip, 3G wireless chip, 2.4G wireless chip, Bluetooth(bluetooth) module etc.Program Executive Module comprises voice class program performance element 4041, action class program performance element 4042 and indicator unit 4043.Voice class program performance element 4041 comprises apparatus for processing audio 40411 and loudspeaker 40412.Apparatus for processing audio 40411 is link control module 401 and loudspeaker 40412 respectively.Action class program performance element 4042 comprises motor driver 40421, motor 40422 and mechanical movement means 40423.Motor driver 40421 link control module 401 and motor 40422, motor 40422 connects mechanical movement means 40423.Motor 40422 specifically can comprise head motor, hand motor, thigh motor one or more, mechanical movement means 40423 can be roller, spherical device etc., according to different mechanical movement forms, can have different settings.Indicator unit 4043 comprises eyes indicator lamp 40431 and face indicator lamp 40432, eyes indicator lamp 40431 and face indicator lamp 40432 link control module 401 respectively.
The operation principle of the control module 401 of major and minor robot, memory module 402, wireless communication module 403, voice class program performance element 4041, action class program performance element 4042, indicator unit 403, interface module 505 part in the present embodiment, with reference to the description of embodiment in Fig. 3, can not repeat them here.The application scenarios of its robot system, not only comprises study application, can provide language learning environment true to nature, also comprises and provides the performance of the limb action with sight.
In the present embodiment and Fig. 3, the difference of embodiment is, major and minor robot also comprises and keeps away barrier detection module 406.Concrete, the barrier detection module 406 of keeping away of the present embodiment comprises infrared inductor and excusing from death ripple induction installation.In other embodiments, keep away that barrier detection module can comprise in infrared inductor and ultrasonic sensing device any one.Infrared inductor and excusing from death ripple induction installation link control module 401 respectively.When action class program performance element 4042 carries out floor show, control module 401 opens infrared inductor and ultrasonic sensing device detects, and detects barrier or high low degree intersection (as stair), and detection signal is sent to control module 401.The present embodiment do not limit infrared inductor and the concrete measuring ability of ultrasonic sensing device and detection side to, such as under an application scenarios, ultrasonic sensing device can be arranged on the front portion of major and minor robot, for the barrier such as projection in measuring robots motion front, and infrared inductor is for detecting high low degree intersection.Barrier or height interface intersection is detected at infrared inductor or ultrasonic sensing device, corresponding detection signal can be sent to control module 401, control module 401 is after receiving detection signal, send to motor driver 40421 at once and turn to or retreat instruction, motor driver 40421 drive motors 40422 carries out work, drives main robot or secondary robot to carry out turning or retreating by mechanical movement means 40423.Further, in the present embodiment, when action class program performance element 4042 stops giving a performance, control module 401 can close ultrasonic sensing device and infrared inductor, to reach the object of saving the energy.
See Fig. 5, in one embodiment, provide a kind of robot system and perform control method simultaneously.Wherein, this robot system comprises a main robot and at least one secondary robot.The system architecture of major and minor robot can with reference to Fig. 1.The method comprises:
Step 501, by communication, sets up the communication connection of main robot and at least one secondary robot.
Concrete, in the present embodiment, the identity of major and minor robot can be arranged in advance, also can take after two robots meet, and who tries to be the first and sends the set-up mode that handshake is main robot.
Step 502, carries out the transmission of program program and shares between main robot and secondary robot.
Concrete, after major and minor robot is connected by radio communication, main robot can require that secondary robot carries out reporting of program code inventory, compared with the program code that main robot stores with self after receiving this inventory, determine program code different between secondary robot, the transmission of program program again by not had mutually by radio communication, realizes sharing.In addition, for matching the major and minor robot used in advance, its program program stored is identical, does not limit and requires to perform step 502.
Step 503, main robot according to the strategy preset, determine robot system the program that will simultaneously perform.
Concrete, the order that main robot can be given a performance according to program code determination robot system simultaneously, also can determine the numbering that will give a performance at random.
Step 504, main robot and secondary robot, set up the clock sync signal reference point of simultaneously performing by radio communication.
Concrete, determine the program that will perform at main robot after, major and minor robot carries out clock zero simultaneously, sets up the clock sync signal reference point of simultaneously performing.
Step 505, main robot and secondary robot are respectively according to clock sync signal reference point, and the program program reading program corresponding performs, and generation main robot and secondary robot carry out the control signal of floor show.
Concrete, after major and minor robot sets up clock sync signal reference point, major and minor robot carries out timing respectively, reads program program and performs, and produces different time points in Promgramming, control signal that different operating is corresponding.
Step 506, the program Executive Module of main robot and secondary robot, respectively according to control signal, carries out floor show.
Concrete, the program Executive Module of main robot and secondary robot is respectively according to control signal, carry out voice class floor show or action class floor show, the broadcasting of such as audio frequency, the running etc. of motor, thus realize robot system and give a performance simultaneously, as reading English, singing, roller-skating, dancing etc., thus can using robot system as the double converter tools of study.Major and minor robot carries out floor show simultaneously, until all floor shows are complete or major and minor robot separates in radio communication effective range.Further, in the present embodiment, as expansion, when main robot and secondary robot carry out voice class floor show or action class floor show, corresponding eyes indicator lamp can be controlled and glimmer; Or carry out voice class floor show at main robot and secondary robot, control corresponding face indicator lamp and glimmer.In addition, for ensureing the security that robot uses further, while main robot and secondary robot carry out action class floor show, barrier or high low degree intersection is detected by keeping away barrier detection module, wherein, keep away barrier detection module and comprise at least one in infrared inductor and ultrasonic sensing device, if the barrier detection module of keeping away of main robot or secondary robot detects barrier or high ground level intersection, then carry out turning to or the operation such as retrogressing.
In addition, main robot and secondary robot can also receive the program program of external transmission by interface module, carry out the renewal of program.
See Fig. 6, in one embodiment, the sequential chart that the major and minor robot of robot system is performed simultaneously is provided.The present embodiment is preferably a main robot and a Ge Fu robot carries out floor show simultaneously, specifically comprises:
601, main robot sends handshake to slave device people.
602, secondary robot responds handshake.
603, main robot requires that secondary robot reports program code inventory.
604, secondary robot reports program code inventory to main robot.
605, carry out transmission or the reception of program program between main robot and secondary robot, realize program and share.
606, main robot carries out program decision-making, determines home network.
607, main robot sends to slave device people and waits numbering of giving a performance.
608, main robot and secondary robot be clock zero simultaneously, sets up clock sync signal reference point.
609, main robot reads audio file, plays, and eyes indicator lamp, face indicator lamp glimmer simultaneously.
610, main robot sends notice answer signal to slave device people.
611, secondary robot reads audio file, plays, and eyes indicator lamp, face indicator lamp glimmer simultaneously.
612, secondary robot sends the complete signal of response to main robot.
……
After step 612, major and minor robot, according to program program, can perform sing and dance, introduces myself, keep away the operations such as barrier, until all floor shows are complete.
One of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment method, that the hardware that can carry out instruction relevant by computer program has come, described program can be stored in a computer read/write memory medium, this program, when performing, can comprise the flow process of the embodiment as above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access Memory, RAM) etc.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a robot system, it is characterized in that, comprise: a main robot and at least one secondary robot, described main robot and described secondary robot all comprise control module, memory module, wireless communication module and program Executive Module, described control module connects described memory module, described wireless communication module and described program Executive Module respectively, for controlling each several part co-ordination; Described memory module, for storing the program program of performing simultaneously;
Described wireless communication module, for setting up the communication connection of described main robot and at least one secondary robot described;
Described control module, for after described main robot and at least one secondary robot described establish a communications link, according to the strategy preset, determine described robot system the program that will simultaneously perform;
Described wireless communication module, also for after the program determining to perform in described control module simultaneously, sets up the clock sync signal reference point of described main robot and at least one secondary robot described;
Described control module, also for according to described clock sync signal reference point, the program program reading described program corresponding performs, and produces the control signal of described program Executive Module;
Described program Executive Module, for according to described control signal, carries out the performance of program.
2. robot system according to claim 1, it is characterized in that, described wireless communication module, also for after described main robot and at least one secondary robot described establish a communications link, under the control of described control module, carry out the transmission of the program program between described main robot and described secondary robot, carry out program for described main robot and described secondary robot and share.
3. robot system according to claim 1 and 2, is characterized in that, described program Executive Module comprises at least one in voice class program performance element and action class program performance element;
Described voice class program performance element comprises apparatus for processing audio and loudspeaker, and described apparatus for processing audio connects described control module, and described loudspeaker connects described apparatus for processing audio;
Described action class program performance element comprises motor driver, motor and mechanical movement means, and described motor driver connects described control module and described motor, and described motor connects described mechanical movement means.
4. robot system according to claim 3, it is characterized in that, described program Executive Module comprises voice class program performance element and action class program performance element, also comprise indicator unit further, described indicator unit comprises eyes indicator lamp and face indicator lamp, and described eyes indicator lamp is connected described control module respectively with described face indicator lamp;
Described eyes indicator lamp, for when described voice class program performance element or described action class program performance element carry out floor show, glimmers under the control of described control module;
Described face indicator lamp, for when described voice class program performance element carries out floor show, glimmers under the control of described control module.
5. robot system according to claim 4, it is characterized in that, described main robot and described secondary robot also comprise and keep away barrier detection module, described barrier detection module of keeping away comprises at least one in infrared inductor and ultrasonic sensing device, described infrared inductor and/or described ultrasonic sensing device connect described control module, for when described action class program performance element carries out floor show, detect barrier or high low degree intersection, and detection signal is sent to described control module;
Described control module, also for after receiving described detection signal, send to described motor driver and turn to or retreat instruction, described motor driver drives described motor to carry out work, drives described main robot or secondary robot to carry out turning or retreating by described mechanical movement means.
6. robot system according to claim 1, it is characterized in that, described main robot and described secondary robot also comprise interface module, described interface module connects described control module, for receiving the program program of external transmission, and be stored in described memory module, the renewal of program is carried out for robot system.
7. robot system performs a control method simultaneously, and described robot system comprises a main robot and at least one secondary robot, and it is characterized in that, described method comprises:
By communication, set up the communication connection of described main robot and at least one secondary robot described;
Described main robot according to the strategy preset, determine described robot system the program that will simultaneously perform;
Described main robot and described secondary robot, set up the clock sync signal reference point of simultaneously performing by radio communication;
Described main frame people and described secondary robot are respectively according to described clock sync signal reference point, and the program program reading described program corresponding performs, and produce the control signal that described main robot and described secondary robot carry out floor show;
The program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out floor show.
8. method according to claim 7, is characterized in that, the program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out floor show, comprising:
The program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out voice class floor show; And/or
The program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out action class floor show.
9. method according to claim 8, is characterized in that, the program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out floor show, specifically comprises:
The program Executive Module of described main robot and described secondary robot, respectively according to described control signal, carries out voice class floor show and action class floor show; And
When described main robot and described secondary robot carry out voice class floor show or action class floor show, control corresponding eyes indicator lamp and glimmer; And
Carry out voice class floor show at described main robot and described secondary robot, control corresponding face indicator lamp and glimmer.
10. method according to claim 9, is characterized in that, described method also comprises:
While described main robot and described secondary robot carry out action class floor show, detect barrier or high low degree intersection by keeping away barrier detection module, described in keep away barrier detection module and comprise at least one in infrared inductor and ultrasonic sensing device;
If the barrier detection module of keeping away of described main robot or described secondary robot detects barrier or high ground level intersection, then carry out turning to or retreating.
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| PCT/CN2014/079684 WO2015074410A1 (en) | 2013-11-22 | 2014-06-11 | Robot system and simultaneous performance control method thereof |
| US15/038,053 US10052760B2 (en) | 2013-11-22 | 2014-06-11 | Robot system and simultaneous performance control method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20160346920A1 (en) | 2016-12-01 |
| US10052760B2 (en) | 2018-08-21 |
| CN104385273B (en) | 2016-06-22 |
| WO2015074410A1 (en) | 2015-05-28 |
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